\hypertarget{classBinoCamera}{}\section{Bino\+Camera Class Reference}
\label{classBinoCamera}\index{Bino\+Camera@{Bino\+Camera}}


\hyperlink{classBinoCamera}{Bino\+Camera} 类头文件  




{\ttfamily \#include $<$Bino\+Camera.\+h$>$}

\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hyperlink{classBinoCamera_a6fd6ce57220e1d4bd1dcfa2a72d7014c}{Bino\+Camera} (\hyperlink{structBinoCameraParameterList}{Bino\+Camera\+Parameter\+List} para\+List)
\begin{DoxyCompactList}\small\item\em \hyperlink{classBinoCamera}{Bino\+Camera} 构造函数 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_a0fae8840cca8c98e2a030c8243c0d42a}{Grab} ()\hypertarget{classBinoCamera_a0fae8840cca8c98e2a030c8243c0d42a}{}\label{classBinoCamera_a0fae8840cca8c98e2a030c8243c0d42a}

\begin{DoxyCompactList}\small\item\em 抓取一次相机数据，需要在主循环中调用 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_a7e675afbd9b11a855b8816abe413f51b}{get\+Org\+Image} (cv\+::\+Mat \&L, cv\+::\+Mat \&R)
\begin{DoxyCompactList}\small\item\em 得到双目原始图像 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_a0ca8fdc7baebb847cec029094a1308d8}{get\+Rect\+Image} (cv\+::\+Mat \&L, cv\+::\+Mat \&R)
\begin{DoxyCompactList}\small\item\em 得到双目畸变矫正后图像 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_ac9e29c484ef2a61ce42e8c3dfa41b714}{get\+Disparity} (const cv\+::\+Mat \&rect\+Left, const cv\+::\+Mat \&rect\+Right, cv\+::\+Mat \&disparate\+U16\+Mat)
\begin{DoxyCompactList}\small\item\em 得到得到视差图 \end{DoxyCompactList}\item 
bool \hyperlink{classBinoCamera_a7dc100e891a67b59295e79b93241e16f}{get\+Camera\+Parameter} (cv\+::\+Mat \&para)
\begin{DoxyCompactList}\small\item\em 获取相机参数 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_a6bf7b4beec317a6e7bc8a66f3f255fd7}{set\+Imu\+Correction} (float deadmin, float deadmax, float axerr, float ayerr, float azerr)
\begin{DoxyCompactList}\small\item\em imu原始数据校正 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_aa8bfc29050c583efb840f391c2e94263}{get\+Imu\+Raw\+Data} (std\+::vector$<$ \hyperlink{structImuData}{Imu\+Data} $>$ \&imu\+Datas, uint32\+\_\+t \&timestamp)
\begin{DoxyCompactList}\small\item\em 得到imu原始数据 \end{DoxyCompactList}\item 
void \hyperlink{classBinoCamera_a5662fa1d861687af9577508be18ae29d}{Imu\+Rect} (\hyperlink{structImuData}{Imu\+Data} imu, float timestamp, float $\ast$q)
\begin{DoxyCompactList}\small\item\em imu解算程序 \end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
\hyperlink{classBinoCamera}{Bino\+Camera} 类头文件 

\subsection{Constructor \& Destructor Documentation}
\index{Bino\+Camera@{Bino\+Camera}!Bino\+Camera@{Bino\+Camera}}
\index{Bino\+Camera@{Bino\+Camera}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{Bino\+Camera(\+Bino\+Camera\+Parameter\+List para\+List)}{BinoCamera(BinoCameraParameterList paraList)}}]{\setlength{\rightskip}{0pt plus 5cm}Bino\+Camera\+::\+Bino\+Camera (
\begin{DoxyParamCaption}
\item[{{\bf Bino\+Camera\+Parameter\+List}}]{para\+List}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_a6fd6ce57220e1d4bd1dcfa2a72d7014c}{}\label{classBinoCamera_a6fd6ce57220e1d4bd1dcfa2a72d7014c}


\hyperlink{classBinoCamera}{Bino\+Camera} 构造函数 


\begin{DoxyParams}{Parameters}
{\em para\+List} & 传入的相机启动参数 \\
\hline
\end{DoxyParams}


\subsection{Member Function Documentation}
\index{Bino\+Camera@{Bino\+Camera}!get\+Camera\+Parameter@{get\+Camera\+Parameter}}
\index{get\+Camera\+Parameter@{get\+Camera\+Parameter}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{get\+Camera\+Parameter(cv\+::\+Mat \&para)}{getCameraParameter(cv::Mat &para)}}]{\setlength{\rightskip}{0pt plus 5cm}bool Bino\+Camera\+::get\+Camera\+Parameter (
\begin{DoxyParamCaption}
\item[{cv\+::\+Mat \&}]{para}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_a7dc100e891a67b59295e79b93241e16f}{}\label{classBinoCamera_a7dc100e891a67b59295e79b93241e16f}


获取相机参数 


\begin{DoxyParams}{Parameters}
{\em para} & 返回\+Mat数据的类型为\+C\+V\+\_\+64\+F\+C1，row = 1, col = 7，数据内容为： fx,fy,cx,cy,image\+\_\+wideth,image\+\_\+height,bf \\
\hline
\end{DoxyParams}
\index{Bino\+Camera@{Bino\+Camera}!get\+Disparity@{get\+Disparity}}
\index{get\+Disparity@{get\+Disparity}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{get\+Disparity(const cv\+::\+Mat \&rect\+Left, const cv\+::\+Mat \&rect\+Right, cv\+::\+Mat \&disparate\+U16\+Mat)}{getDisparity(const cv::Mat &rectLeft, const cv::Mat &rectRight, cv::Mat &disparateU16Mat)}}]{\setlength{\rightskip}{0pt plus 5cm}void Bino\+Camera\+::get\+Disparity (
\begin{DoxyParamCaption}
\item[{const cv\+::\+Mat \&}]{rect\+Left, }
\item[{const cv\+::\+Mat \&}]{rect\+Right, }
\item[{cv\+::\+Mat \&}]{disparate\+U16\+Mat}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_ac9e29c484ef2a61ce42e8c3dfa41b714}{}\label{classBinoCamera_ac9e29c484ef2a61ce42e8c3dfa41b714}


得到得到视差图 


\begin{DoxyParams}{Parameters}
{\em rect\+Left} & 输入左相机矫正后图像 \\
\hline
{\em rect\+Right} & 输入右相机矫正后图像 \\
\hline
{\em disparate\+U16\+Mat} & 返回uint16类型的视差图，想得到真实视差值需要转换为float型数据，转换例子： mat\+U16.\+convert\+To( mat\+F32, C\+V\+\_\+32F, 1.\+0/16); \\
\hline
\end{DoxyParams}
\index{Bino\+Camera@{Bino\+Camera}!get\+Imu\+Raw\+Data@{get\+Imu\+Raw\+Data}}
\index{get\+Imu\+Raw\+Data@{get\+Imu\+Raw\+Data}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{get\+Imu\+Raw\+Data(std\+::vector$<$ Imu\+Data $>$ \&imu\+Datas, uint32\+\_\+t \&timestamp)}{getImuRawData(std::vector< ImuData > &imuDatas, uint32_t &timestamp)}}]{\setlength{\rightskip}{0pt plus 5cm}void Bino\+Camera\+::get\+Imu\+Raw\+Data (
\begin{DoxyParamCaption}
\item[{std\+::vector$<$ {\bf Imu\+Data} $>$ \&}]{imu\+Datas, }
\item[{uint32\+\_\+t \&}]{timestamp}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_aa8bfc29050c583efb840f391c2e94263}{}\label{classBinoCamera_aa8bfc29050c583efb840f391c2e94263}


得到imu原始数据 


\begin{DoxyParams}{Parameters}
{\em imudatas} & imu的原始数据 \\
\hline
{\em timestamp} & 图像帧曝光时刻的时间 \\
\hline
\end{DoxyParams}
\index{Bino\+Camera@{Bino\+Camera}!get\+Org\+Image@{get\+Org\+Image}}
\index{get\+Org\+Image@{get\+Org\+Image}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{get\+Org\+Image(cv\+::\+Mat \&\+L, cv\+::\+Mat \&\+R)}{getOrgImage(cv::Mat &L, cv::Mat &R)}}]{\setlength{\rightskip}{0pt plus 5cm}void Bino\+Camera\+::get\+Org\+Image (
\begin{DoxyParamCaption}
\item[{cv\+::\+Mat \&}]{L, }
\item[{cv\+::\+Mat \&}]{R}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_a7e675afbd9b11a855b8816abe413f51b}{}\label{classBinoCamera_a7e675afbd9b11a855b8816abe413f51b}


得到双目原始图像 


\begin{DoxyParams}{Parameters}
{\em L} & 返回左相机图像 \\
\hline
{\em R} & 返回右相机图像 \\
\hline
\end{DoxyParams}
\index{Bino\+Camera@{Bino\+Camera}!get\+Rect\+Image@{get\+Rect\+Image}}
\index{get\+Rect\+Image@{get\+Rect\+Image}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{get\+Rect\+Image(cv\+::\+Mat \&\+L, cv\+::\+Mat \&\+R)}{getRectImage(cv::Mat &L, cv::Mat &R)}}]{\setlength{\rightskip}{0pt plus 5cm}void Bino\+Camera\+::get\+Rect\+Image (
\begin{DoxyParamCaption}
\item[{cv\+::\+Mat \&}]{L, }
\item[{cv\+::\+Mat \&}]{R}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_a0ca8fdc7baebb847cec029094a1308d8}{}\label{classBinoCamera_a0ca8fdc7baebb847cec029094a1308d8}


得到双目畸变矫正后图像 


\begin{DoxyParams}{Parameters}
{\em L} & 返回左相机矫正后图像 \\
\hline
{\em R} & 返回右相机矫正后图像 \\
\hline
\end{DoxyParams}
\index{Bino\+Camera@{Bino\+Camera}!Imu\+Rect@{Imu\+Rect}}
\index{Imu\+Rect@{Imu\+Rect}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{Imu\+Rect(\+Imu\+Data imu, float timestamp, float $\ast$q)}{ImuRect(ImuData imu, float timestamp, float *q)}}]{\setlength{\rightskip}{0pt plus 5cm}void Bino\+Camera\+::\+Imu\+Rect (
\begin{DoxyParamCaption}
\item[{{\bf Imu\+Data}}]{imu, }
\item[{float}]{timestamp, }
\item[{float $\ast$}]{q}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_a5662fa1d861687af9577508be18ae29d}{}\label{classBinoCamera_a5662fa1d861687af9577508be18ae29d}


imu解算程序 


\begin{DoxyParams}{Parameters}
{\em imu} & imu原始数据 \\
\hline
{\em timestamp} & 两次imu数据采集之间的时间戳 \\
\hline
{\em q} & 四元数 \\
\hline
\end{DoxyParams}
\index{Bino\+Camera@{Bino\+Camera}!set\+Imu\+Correction@{set\+Imu\+Correction}}
\index{set\+Imu\+Correction@{set\+Imu\+Correction}!Bino\+Camera@{Bino\+Camera}}
\subsubsection[{\texorpdfstring{set\+Imu\+Correction(float deadmin, float deadmax, float axerr, float ayerr, float azerr)}{setImuCorrection(float deadmin, float deadmax, float axerr, float ayerr, float azerr)}}]{\setlength{\rightskip}{0pt plus 5cm}void Bino\+Camera\+::set\+Imu\+Correction (
\begin{DoxyParamCaption}
\item[{float}]{deadmin, }
\item[{float}]{deadmax, }
\item[{float}]{axerr, }
\item[{float}]{ayerr, }
\item[{float}]{azerr}
\end{DoxyParamCaption}
)}\hypertarget{classBinoCamera_a6bf7b4beec317a6e7bc8a66f3f255fd7}{}\label{classBinoCamera_a6bf7b4beec317a6e7bc8a66f3f255fd7}


imu原始数据校正 


\begin{DoxyParams}{Parameters}
{\em deadmin} & 死区最小值 \\
\hline
{\em deadmax} & 死区最大值 \\
\hline
{\em axerr} & 加速度计x轴零偏校正 \\
\hline
{\em ayerr} & 加速度计y轴零偏校正 \\
\hline
{\em azerr} & 加速度计z轴零偏校正 \\
\hline
\end{DoxyParams}


The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
Bino\+Camera.\+h\end{DoxyCompactItemize}
